High-torque frameless torque motor

Abstract

The invention, which relates to the technical field of the motor, discloses a high-torque frameless torque motor comprising a housing and an electromagnetic coil array assembly arranged in the middle of the housing. The first rotor and the second rotor are arranged at the two ends of the shell; the first output terminal and the second output terminal are assembled at the two ends of the shell; the middle parts of the first rotor, the second rotor and the electromagnetic coil array assembly are hollowed out and form an assembly channel; and the two groups of planetary gear assemblies are detachably mounted in the assembling channel. Through the creative layout of the electromagnetic coil array assembly, the first rotor and the second rotor, the traditional motor pattern is changed in a mode of hollowing out the middle part of the torque motor, light weight and miniaturization of the torque motor are realized, and meanwhile, the torque motor is matched with the planetary gear assemblies distributed between the hollowing-out position of the torque motor and the first output terminal and the second output terminal, so that the torque motor is more compact in structure. By means of a simple mechanical structure, the output power of the torque motor is remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of motors, and in particular to a frameless torque motor with high torque. Background Art

[0002] As a core component of humanoid robots, the frameless torque motor can achieve extremely high control precision and is used for the linear joints and rotary joints of humanoid robots.

[0003] For existing motors, firstly, they are too large in actual use, especially when applied to industries such as robotics. Secondly, the internal assembly is not reasonable enough and there is still a large amount of space that can be saved. Therefore, a frameless torque motor with high torque is designed and developed. Summary of the Invention

[0004] The purpose of the present invention is to provide a frameless torque motor with high torque. Through the creative layout of the electromagnetic coil array component, the first rotor, and the second rotor, the present device changes the traditional motor pattern by hollowing out the middle part of the torque motor, realizes the light weight and miniaturization of the torque motor. At the same time, in cooperation with the planetary gear components distributed between the hollow position of the torque motor and the first output terminal and the second output terminal, with a simple mechanical structure, the output power of the torque motor is significantly improved.

[0005] To achieve the above object, the present invention provides the following technical solution: A frameless torque motor with high torque, comprising: a housing, an electromagnetic coil array component provided in the middle of the housing; and a first rotor and a second rotor provided at both ends of the housing. Among them, the electromagnetic coil array component is placed in the middle of the first rotor and the second rotor and is vertically distributed. When the electromagnetic coil array component in the middle is energized, a first rotating magnetic field and a second rotating magnetic field can be respectively formed with the first rotor and the second rotor, so that the first rotor and the second rotor rotate; and first output terminals and second output terminals assembled at both ends of the housing; the middle parts of the first rotor, the second rotor, and the electromagnetic coil array component are hollowed out to form an assembly channel; two sets of planetary gear components detachably installed inside the assembly channel, and the two sets of planetary gear components are respectively connected between the first rotor and the first output terminal, and the second rotor and the second output terminal, and can provide a large transmission ratio for the output of the first output terminal and the second output terminal to achieve efficient power output.

[0006] Preferably, the electromagnetic coil array assembly includes an inner ring, an outer ring, and an assembly frame annularly arranged between the inner ring and the outer ring; coil groups are arranged between adjacent assembly frames, and electrical connection grooves are respectively formed on both sides of each coil group; and through grooves are respectively formed on both sides of the assembly frame, and electrical blocks are respectively arranged inside the two through grooves. Wherein, elastic pieces are respectively arranged between the opposite ends of the two electrical blocks and the inner wall of the assembly frame, and the opposite ends of the two electrical blocks respectively extend outwards and are adaptively docked with two adjacent electrical connection grooves; the electromagnetic coil array assembly further includes a cooling ring assembly and a wedge-shaped cooling block assembly arranged on the cooling ring assembly. When the wedge-shaped cooling block assembly is inserted into the interior of the assembly frame, the electrical blocks can be extruded into the adjacent electrical connection grooves, improving the assembly stability of the coil groups.

[0007] Preferably, the wedge-shaped cooling block assembly includes an assembly ring, which is connected to the inner ring through a first bolt assembly; a limiting plate annularly arranged on the assembly ring; and a clamping plate fixed on each limiting plate and inserted into the corresponding assembly frame one by one. Wherein, the clamping plate is a plate body structure that is wide in the middle and narrow at both sides; it also includes an electrical ring fixed on the inner side of the outer ring. The electrical ring is provided with a number of electrical pieces connected to the electrical ring corresponding to a number of assembly frames. Two wires are also arranged inside each assembly frame. One ends of the two wires are respectively connected to the two electrical blocks, and the other ends are combined and connected to the electrical pieces; and a wiring terminal connected to the electrical ring and passing through a first through hole formed in the housing and connected to an external power supply.

[0008] Preferably, the cooling ring assembly includes an annular refrigeration box that can extend into the inner ring. Wherein, the assembly ring is assembled on the outer periphery of the annular refrigeration box; and connecting pipes annularly communicated with the annular refrigeration box and corresponding to a number of limiting plates one by one. One end of each connecting pipe away from the annular refrigeration box passes through the middle of the corresponding limiting plate and is communicated with a cooling cavity arranged inside the corresponding clamping plate; it also includes a first pipe body and a ball valve control water pipe that are communicated with the top of the annular refrigeration box, extend out of the housing and are connected to an external connecting pipe. The first pipe body is used for liquid inlet, and the ball valve control water pipe automatically drains liquid when the annular refrigeration box and the cooling cavity are filled with liquid.

[0009] Preferably, the ball valve control water pipe includes a second pipe body. Wherein, one end of the second pipe body is communicated with the annular refrigeration box, and the other end passes through a second through hole formed in the side wall of the housing and is fixed with a third pipe body; and a cross bar arranged inside the third pipe body. A spring is fixed in the middle of the cross bar, and a ball valve body is fixed at one end of the spring away from the cross bar; it also includes a valve block fixed on the third pipe body close to the second pipe body side, and a valve hole in which the ball valve body abuts is formed in the middle of the valve block. The ball valve body is used for closing the valve hole.

[0010] Preferably, each of the coil groups is embedded inside an assembly cavity formed by adjacent assembly frames; and two limiting strips are provided on one side of each assembly frame away from the limiting plate, wherein the two limiting strips and the limiting plate respectively extend into two adjacent assembly cavities.

[0011] Preferably, the first rotor and the second rotor have the same structure and are each composed of a frame body and a number of permanent magnets provided inside the frame body. Among them, the frame body is rotationally limited inside a limiting frame provided on the inner wall of the outer shell.

[0012] Preferably, each group of the planetary gear assemblies includes an I-shaped member. One end of the I-shaped member is detachably assembled with the annular refrigeration box through a second bolt assembly provided thereon, and the other end extends into the middle of the corresponding frame body and is detachably assembled with a planet carrier through a third bolt assembly provided thereon; a planet gear is annularly installed on one side of the planet carrier away from the electromagnetic coil array assembly; a sun gear rotatably installed in the middle of the planet carrier and meshing with a number of planet gears; and spline shafts respectively fixed at the opposite ends of the first output terminal and the second output terminal, and the spline shafts can be assembled in spline grooves opened on the sun gear; it further includes a connecting ring fixed on the inner ring of the frame body, and a gear ring meshing with a number of planet gears is detachably assembled on one side of the connecting ring away from the electromagnetic coil array assembly through a fourth bolt assembly.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: Through the creative layout of the electromagnetic coil array assembly, the first rotor, and the second rotor, the present invention changes the traditional motor pattern by hollowing out the middle of the torque motor, realizing the light weight and miniaturization of the torque motor. At the same time, in cooperation with the planetary gear assemblies distributed between the hollow position of the torque motor and the first output terminal and the second output terminal, with a simple mechanical structure, the output power of the torque motor is significantly improved, and the sizes of the two groups of planetary gear assemblies can be replaced, which can meet the bidirectional output of the torque motor and realize the output of the first output terminal and the second output terminal at the same frequency or different frequencies, thereby meeting different driving requirements.

[0014] As another embodiment of the present invention, two electric blocks are respectively installed on both sides of each assembly frame. Elastic sheets are respectively provided between the opposite ends and the inner wall of the assembly frame, and the opposite ends are adaptively docked with two adjacent electric connection slots, thereby realizing the limiting installation process of the coil group and the adjacent assembly frame; in order to improve the insertion stability of a number of coil groups, the present application also provides a cooling ring assembly and a wedge-shaped cooling block assembly. The two not only realize the cooling of the electromagnetic coil array assembly, but also can be inserted into a number of assembly frames at the same time to realize the synchronous expansion process of a number of electric blocks, further improving the insertion tightness between a number of electric blocks and a number of electric connection slots.

[0015] As other embodiments of the present invention, through the simple cooperation between the ball valve body and the spring, the valve hole can be automatically closed when coolant is filled into the annular refrigeration box and the cooling cavity, and when the annular refrigeration box and the cooling cavity are full, the valve hole can be automatically opened for pressure relief, while reminding the staff to close the electrical connection groove and stop the liquid injection.

[0016] As other embodiments of the present invention, the two limiting strips fixed on one side of the assembly frame can extend into the assembly cavities on both sides thereof to realize the limiting of one side of the adjacent coil groups, and the limiting plate lapped on the other side of the assembly frame also extends into the assembly cavity at the same time to realize the limiting of the other side of the adjacent coil groups. This design can realize the limiting around the coil groups, ensure the stability of installation, and at the same time, each structure is detachable for easy replacement.

[0017] As other embodiments of the present invention, due to the tooth number ratio and the matching diameter size between the sun gear, the planet gears and the ring gear, the rotation speed of the sun gear is several times that of the ring gear, so that the output power of the first output terminal or the second output terminal splined to the sun gear is significantly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic structural diagram of the present invention; Figure 2 is Figure 1 a side view structural diagram of Figure 3 is a sectional structural diagram taken along A-A; Figure 4 is Figure 1 a partial disassembled structural diagram of Figure 5 is an enlarged disassembled structural diagram of the electromagnetic coil array assembly of the present invention; Figure 6 is Figure 5 a three-dimensional structural diagram from another perspective of Figure 7 is Figure 5 a three-dimensional structural diagram from other perspectives of Figure 8 is a first partial enlarged structural diagram of the planetary gear assembly of the present invention; Figure 9 is a second partial enlarged structural diagram of the planetary gear assembly of the present invention; Figure 10 is a sectional structural diagram of the ball valve drain pipe assembly.

[0019] In the figure: 111, outer shell; 112, first output terminal; 113, second output terminal; 211, inner ring; 212, outer ring; 213, assembly frame; 214, coil group; 215, electrical connection groove; 216, through groove; 217, electrical block; 218, elastic piece; 219, assembly ring; 220, clamping plate; 221, limiting plate; 2221, first mounting hole; 2222, first screw hole; 2223, first bolt body; 223, annular refrigeration box; 224, connecting pipe; 225, first pipe body; 226, ball valve control water pipe; 2261, second pipe body; 2262, third pipe body; 2263, cross bar; 2264, spring; 2265, ball valve body; 2266, valve block; 2267, valve hole; 227, electrical ring; 228, electrical piece; 229, wiring terminal; 230, limiting bar; 311, mounting ring; 312, second screw hole; 313, second stud; 314, I-shaped part; 315, planet carrier; 316, planet gear; 317, ring gear; 318, spline shaft; 319, sun gear; 320, connecting ring. Detailed implementation mode

[0020] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. The embodiments of the present invention will be described in detail below with reference to the drawings. Embodiment 1

[0021] Please refer to Figures 1 to 10 , the present invention preferably provides a technical solution: a frameless torque motor with high torque, including: an outer shell 111, an electromagnetic coil array assembly disposed in the middle of the outer shell 111; and a first rotor and a second rotor disposed at both ends of the outer shell 111. Among them, the electromagnetic coil array assembly is placed in the middle of the first rotor and the second rotor and is vertically distributed. When the electromagnetic coil array assembly in the middle is energized, a first rotating magnetic field and a second rotating magnetic field can be respectively formed with the first rotor and the second rotor, so that the first rotor and the second rotor rotate; and the first output terminal 112 and the second output terminal 113 assembled at both ends of the outer shell 111; the middle parts of the first rotor, the second rotor and the electromagnetic coil array assembly are hollowed out to form an assembly channel; two sets of planetary gear assemblies detachably installed inside the assembly channel, and the two sets of planetary gear assemblies are respectively connected between the first rotor and the first output terminal 112, and the second rotor and the second output terminal 113 and can provide a large transmission ratio for the output of the first output terminal 112 and the second output terminal 113 to achieve efficient power output.

[0022] In view of the problems existing in traditional motors in practical use, such as excessive volume and limited operating power, this application designs a lightweight torque motor with a new layout and significantly improved transmission power. The electromagnetic coil array assembly of this torque motor is placed in the middle of the first rotor and the second rotor and is vertically distributed. Combining Figure 3 , 4 As shown, when the electromagnetic coil array assembly in the middle is energized, it can form a first rotating magnetic field and a second rotating magnetic field with the first rotor and the second rotor respectively, so that the first rotor and the second rotor rotate. This application changes the design of the traditional motor stator distributed on the outer periphery of the rotor, making the space between the electromagnetic coil array assembly and the first rotor and the second rotor hollow and forming a hybrid magnetic field area. This design can significantly reduce the volume of the torque motor and improve the applicable range; At the same time, the first rotor and the second rotor can achieve bidirectional output efficiency; In order to overcome the problem of limited power caused by the small volume, planetary gear assemblies are connected between the assembly channels formed in the middle of the first rotor, the second rotor and the electromagnetic coil array assembly and the first output terminal 112 and the second output terminal 113 respectively arranged at both ends of the housing 111. The structural setting of the planetary gear assembly here can significantly improve the operating power while meeting the requirements of lightweight and miniaturization of the torque motor; At the same time, the planetary gear assembly can change the size at any time, so as to realize the adjustment of the output operating power of the first output terminal 112 and the second output terminal 113, that is, the torque motor; In addition, the two planetary gear assemblies can select the same or different sizes according to requirements, further realizing the same-frequency or different-frequency output of the first output terminal 112 and the second output terminal 113 at both ends of the torque motor to meet different driving requirements.

[0023] Furthermore, the electromagnetic coil array assembly includes an inner ring 211, an outer ring 212, and an assembly frame 213 annularly arranged between the inner ring 211 and the outer ring 212; a coil group 214 is arranged between adjacent assembly frames 213, and electrical connection slots 215 are respectively opened on both sides of each coil group 214; and through slots 216 are respectively opened on both sides of the assembly frame 213, and electrical blocks 217 are respectively arranged inside the two through slots 216. Among them, elastic pieces 218 are respectively arranged between the opposite ends of the two electrical blocks 217 and the inner wall of the assembly frame 213, and the opposite ends of the two electrical blocks 217 respectively extend outward and are adaptively docked with the two adjacent electrical connection slots 215; the electromagnetic coil array assembly further includes a cooling ring assembly and a wedge-shaped cooling block assembly arranged on the cooling ring assembly. When the wedge-shaped cooling block assembly is inserted into the interior of the assembly frame 213, it can squeeze the electrical block 217 into the adjacent electrical connection slot 215, improving the assembly stability of the coil group 214.

[0024] CombiningFigure 5 , 6 As shown in FIG. 7, a number of assembly frames 213 are fixed between the inner ring 211 and the outer ring 212, and the coil groups 214 are limited to be located between adjacent assembly frames 213. Here, the coil groups 214 are existing mature technologies. Electric connection slots 215 are respectively provided on both sides of each coil group 214. Combining Figure 6 As shown, two electric blocks 217 are respectively installed on both sides of each assembly frame 213. Elastic pieces 218 are respectively provided between the opposite ends of the electric blocks 217 and the inner wall of the assembly frame 213, and the opposite ends of the elastic pieces 218 are adapted to be docked with the two adjacent electric connection slots 215 respectively, thus realizing the limiting installation process of the coil group 214 and the adjacent assembly frame 213; In order to improve the insertion stability of a number of coil groups 214, the present application also provides a cooling ring assembly and a wedge-shaped cooling block assembly. The two not only realize the cooling of the electromagnetic coil array assembly, but also can be inserted into the interior of a number of assembly frames 213 at the same time to realize the synchronous expansion process of a number of electric blocks 217, and further improve the insertion tightness between a number of electric blocks 217 and a number of electric connection slots 215. Embodiment 2

[0025] As another implementation manner of the present invention, the wedge-shaped cooling block assembly includes an assembly ring 219, and the assembly ring 219 is connected to the inner ring 211 through a first bolt assembly; a limiting plate 221 annularly arranged on the assembly ring 219; and a clamping plate 220 fixed on each limiting plate 221 and inserted into the corresponding assembly frame 213 one by one. Among them, the clamping plate 220 is a plate body structure that is wide in the middle and narrow at both sides; it also includes an electric ring 227 fixed on the inner side of the outer ring 212. The electric ring 227 is provided with a number of electric pieces 228 connected to the electric ring 227 corresponding to a number of assembly frames 213. Two wires are also provided inside each assembly frame 213. Among them, one ends of the two wires are respectively connected to the two electric blocks 217, and the other ends are combined and connected to the electric piece 228; and a wiring terminal 229 connected to the electric ring 227 and passing through a first through hole opened on the housing 111 and connected to an external power supply.

[0026] As Figure 2 , 6As shown in FIGS. 7 and 8, the assembly ring 219 and the inner ring 211 can be connected by the first bolt assembly. The limiting plate 221 on the assembly ring 219 and the clamping plate 220 fixed thereon can extend into the corresponding assembly frame 213. At this time, the wide part in the middle of the clamping plate 220 can squeeze the two electric blocks 217 to extend into the adjacent two electric connection slots 215. During this process, the elastic piece 218 is compressed to realize the stable installation process of the coil group 214. One end of the two wires arranged in a single assembly frame 213 is respectively connected to the two electric blocks 217, and the other ends are combined and connected to the electric piece 228. Therefore, when several clamping plates 220 are inserted into several assembly frames 213 at the same time, when the electric blocks 217 are in close contact with the electric connection slots 215, at this time, several coil groups 214 can be indirectly connected to the external power supply through wires, electric pieces 228, electric rings 227 and connection terminals 229. When the external power supply is energized, the coil group 214 is energized and operates to form two rotating magnetic fields.

[0027] Further, the first bolt assembly includes a number of first mounting holes 2221 and a number of first screw holes 2222 respectively opened on the assembly ring 219 and the inner ring 211; and a first bolt body 2223 corresponding to the first mounting holes 2221 and the first screw holes 2222 one by one. When the first bolt body 2223 passes through the first mounting hole 2221 and is threadedly connected to the corresponding first screw hole 2222, it is used for the detachable installation of the assembly ring 219 and the inner ring 211. This is an existing mature technology, as shown in combination with Figure 6 shown.

[0028] Further, the cooling ring assembly includes an annular refrigeration box 223 that can extend into the inner ring 211. Among them, the assembly ring 219 is assembled on the outer periphery of the annular refrigeration box 223; and connecting pipes 224 that are annularly connected to the annular refrigeration box 223 and correspond to a number of limiting plates 221 one by one. Among them, one end of each connecting pipe 224 away from the annular refrigeration box 223 passes through the middle of the corresponding limiting plate 221 and is communicated with the cooling cavity provided in the corresponding clamping plate 220; it also includes a first pipe body 225 and a ball valve control water pipe 226 that are communicated with the top of the annular refrigeration box 223, extend out of the housing 111 and are connected to the external connecting pipe. The first pipe body 225 is used for liquid inlet, and the ball valve control water pipe 226 automatically drains liquid when the annular refrigeration box 223 and the cooling cavity are filled with liquid.

[0029] As known in Figure 5 、 6 、7, the assembly ring 219 is fixed on the outer periphery of the annular refrigeration box 223. When the assembly ring 219 and the inner ring 211 are fixed by the first bolt assembly, the annular refrigeration box 223 extends into the inner ring 211. At this time, a number of connecting pipes 224 communicated with the annular refrigeration box 223 respectively extend into the cooling cavities provided in a number of clamping plates 220. At the same time, the first pipe body 225 and the ball valve control water pipe 226 provided on the top of the annular refrigeration box 223 extend outwards, as shown in combination with Figure 2As shown, when the first pipe body 225 is connected to the external connecting pipe for liquid injection, if the annular refrigeration box 223 and several cooling chambers are filled, the ball valve controlled water pipe 226 will automatically drain the liquid. This colorant not only controls the hydraulic pressure of the device, but also reminds that the liquid is full. At the same time, the design of the annular refrigeration box 223 can cool several coil groups 214 where the electromagnetic coil array components are located, ensuring the working efficiency of the coil groups 214, and the cooling chambers between adjacent coil groups 214 further improve the cooling effect.

[0030] Further, the ball valve controlled water pipe 226 includes a second pipe body 2261. One end of the second pipe body 2261 communicates with the annular refrigeration box 223, and the other end passes through the second through hole opened on the side wall of the housing 111 and is fixed with a third pipe body 2262. And a cross bar 2263 is arranged inside the third pipe body 2262. A spring 2264 is fixed in the middle of the cross bar 2263, and a ball valve body 2265 is fixed at one end of the spring 2264 away from the cross bar 2263. It also includes a valve block 2266 fixed on one side of the third pipe body 2262 close to the second pipe body 2261, and a valve hole 2267 that abuts against the ball valve body 2265 is opened in the middle of the valve block 2266. The ball valve body 2265 is used to close the valve hole 2267.

[0031] As Figure 2 、 7 As shown in FIGS. 10, one end of the second pipe body 2261 communicates with the annular refrigeration box 223, and a third pipe body 2262 is fixed outward at the other end. One end of the ball valve body 2265 arranged inside the third pipe body 2262 abuts against the valve hole 2267 in the middle of the valve block 2266, and the other end is connected to the cross bar 2263 through a spring 2264. Therefore, when the annular refrigeration box 223 and the cooling chambers are all filled with coolant, since the ball valve controlled water pipe 226 is installed on the top of the annular refrigeration box 223, the overflowing coolant can spread into the third pipe body 2262 through the second pipe body 2261. When the pressure above the valve block 2266 in the third pipe body 2262 exceeds the elastic coefficient of the spring 2264, the ball valve body 2265 is pushed away from the valve hole 2267, and at this time the overflowing coolant leaks from the position of the third pipe body 2262. On the contrary, if the annular refrigeration box 223 and the cooling chambers are not filled or the pressure above the valve block 2266 in the third pipe body 2262 does not exceed the elastic coefficient of the spring 2264, the ball valve body 2265 always blocks the valve hole 2267 to close it and prevent liquid leakage; Through the simple cooperation of the ball valve body 2265 and the spring 2264 in this application, the valve hole 2267 can be automatically closed when adding coolant to the annular refrigeration box 223 and the cooling chambers, and when the annular refrigeration box 223 and the cooling chambers are filled, the valve hole 2267 is automatically opened for pressure relief, and at the same time, it reminds the staff to close the electrical connection slot 215 and stop liquid injection.

[0032] Further, each coil group 214 is embedded inside the assembly cavity formed by adjacent assembly frames 213; and two limiting bars 230 are provided on one side of each assembly frame 213 away from the limiting plate 221, wherein the two limiting bars 230 and the limiting plate 221 extend into the adjacent two assembly cavities respectively.

[0033] As Figure 6 , 7 shown, the two limiting bars 230 fixed on one side of the assembly frame 213 here can extend into the assembly cavities on both sides of it, realizing the limitation of one side of the adjacent coil groups 214, while the limiting plate 221 lapped on the other side of the assembly frame 213 also extends into the assembly cavity, realizing the limitation of the other side of the adjacent coil groups 214. This design can realize the limitation around the coil groups 214, ensuring the installation stability, and at the same time, each structure is detachable for replacement.

[0034] Further, the first rotor and the second rotor have the same structure and are both composed of a frame body and a number of permanent magnets arranged inside the frame body. Among them, the frame body is rotationally limited inside the limiting frame arranged on the inner wall of the outer shell 111. Combining Figure 3 , 4 , 8, and 9 shown, the first rotor and the second rotor set in this application have the same structure and are both existing mature technologies. Usually, high-performance neodymium iron boron magnets are used. When the position sensor (usually a Hall sensor) arranged inside the device operates, the rotor position can be detected in real time, and the controller arranged inside the device adjusts the current direction and intensity of the coil group 214 according to the signal of the Hall sensor, dynamically optimizing the magnetic field distribution to keep the rotor rotating continuously. Embodiment 3

[0035] As other embodiments of the present invention, each planetary gear assembly includes an I-shaped part 314. One end of the I-shaped part 314 is detachably assembled with the annular refrigeration box 223 through the second bolt assembly provided thereon, and the other end extends into the middle of the corresponding frame body and is detachably assembled with a planet carrier 315 through the third bolt assembly provided thereon; a planet gear 316 is annularly installed on one side of the planet carrier 315 away from the electromagnetic coil array assembly; a sun gear 319 rotatably installed in the middle of the planet carrier 315 and meshing with a number of planet gears 316; and spline shafts 318 respectively fixed at the opposite ends of the first output terminal 112 and the second output terminal 113, and the spline shafts 318 can be assembled in the spline grooves opened on the sun gear 319; it also includes a connecting ring 320 fixed on the inner ring of the frame body, and a ring gear 317 meshing with a number of planet gears 316 is detachably assembled on one side of the connecting ring 320 away from the electromagnetic coil array assembly through a fourth bolt assembly.

[0036] As Figure 3 , 4As shown in FIGS. 8 and 9, for the I-shaped member 314 where a single planetary gear assembly is located, one end thereof is detachably assembled with the annular refrigeration box 223 through the second bolt assembly provided thereon, and the other end extends into the middle of the corresponding frame and is detachably assembled with a planet carrier 315 through the third bolt assembly provided thereon. Here, both the second and third bolt assemblies are existing mature technologies and will not be elaborated further, so as to achieve the disassembly and installation between the I-shaped member 314 and the mounting ring 311, and between the I-shaped member 314 and the planet carrier 315. The planet gears 316 annularly arranged on the planet carrier 315 are meshed with the sun gear 319 on the inner side and meshed with the ring gear 317 on the outer side. The ring gear 317 is also detachably installed with the connecting ring 320 inside the frame through the fourth bolt assembly. The sun gear 319 is connected to the first output terminal 112 or the second output terminal 113 through a spline structure. Therefore, when the first or second rotor rotates, it can directly drive the ring gear 317, indirectly drive the planet gears 316 meshed with the ring gear 317, and the sun gear 319 meshed with the planet gears 316 to rotate. Due to the tooth number ratio and the matching diameter size of the sun gear 319 with the planet gears 316 and the ring gear 317, the rotation speed of the sun gear 319 is several times that of the ring gear 317, so that the first output terminal 112 or the second output terminal 113 spline-connected with the sun gear 319 significantly improves the output power.

[0037] Further, the second bolt assembly includes a plurality of second screw holes 312 respectively formed in the mounting ring 311 and the I-shaped member 314, and a plurality of second studs 313. Nuts are respectively arranged at both ends of each second stud 313; the third bolt assembly includes a plurality of third mounting holes, a plurality of third screw holes respectively formed in the I-shaped member 314 and the planet carrier 315; and a plurality of third bolts. When the third bolts pass through the corresponding third mounting holes and are threadedly connected with the corresponding third screw holes, they are used for the detachable assembly of the planet carrier 315 and the I-shaped member 314; the fourth bolt assembly has the same structure as the third bolt assembly and is used for the detachable assembly of the connecting ring 320 and the ring gear 317. This is an existing mature technology and will not be elaborated further.

[0038] In the present invention, unless otherwise clearly defined and limited, terms such as "installation", "connection", "linkage", "fixation" and the like should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection; it may be a direct connection, or an indirect connection through an intermediate medium. Among them, there are various ways of detachable installation. For example, it can be in a way of cooperation between plugging and buckling, or in a way of bolt connection, etc.

[0039] The above embodiments' specific description of the present invention is only used to further illustrate the present invention and cannot be understood as a limitation on the protection scope of the present invention. Those skilled in the art's non-essential improvements and adjustments made according to the content of the above invention all fall within the protection scope of the present invention.

Claims

1. Rimless torque motor with high torque, characterized in that, Comprising: A housing, and an electromagnetic coil array assembly disposed in the middle of the housing; And a first rotor and a second rotor disposed at both ends of the housing. Among them, the electromagnetic coil array assembly is placed in the middle of the first rotor and the second rotor and is vertically distributed. When the electromagnetic coil array assembly in the middle is energized, a first rotating magnetic field and a second rotating magnetic field can be respectively formed with the first rotor and the second rotor, so that the first rotor and the second rotor rotate; And a first output terminal and a second output terminal assembled at both ends of the housing; The middle parts of the first rotor, the second rotor and the electromagnetic coil array assembly are hollowed out to form an assembly channel; Two sets of planetary gear assemblies detachably installed inside the assembly channel. The two sets of planetary gear assemblies are respectively connected between the first rotor and the first output terminal, and the second rotor and the second output terminal, and can provide a large transmission ratio for the output of the first output terminal and the second output terminal to achieve efficient power output.

2. The frameless torque motor with high torque according to claim 1, wherein: The electromagnetic coil array assembly includes an inner ring, an outer ring, and an assembly frame annularly disposed between the inner ring and the outer ring; Coil groups are arranged between adjacent assembly frames, and electric connection slots are respectively opened on both sides of each coil group; And through slots respectively opened on both sides of the assembly frame. Electric blocks are respectively arranged inside the two through slots. Among them, elastic pieces are respectively arranged between the opposite ends of the two electric blocks and the inner wall of the assembly frame, and the opposite ends of the two electric blocks respectively extend outwards and are adaptively docked with the two adjacent electric connection slots; The electromagnetic coil array assembly further includes a cooling ring assembly, and a wedge-shaped cooling block assembly disposed on the cooling ring assembly. When the wedge-shaped cooling block assembly is inserted into the interior of the assembly frame, it can squeeze the electric block into the adjacent electric connection slot, improving the assembly stability of the coil group.

3. The frameless torque motor with high torque according to claim 2, characterized in that: The wedge-shaped cooling block assembly includes an assembly ring, and the assembly ring is connected to the inner ring through a first bolt assembly; A limiting plate annularly arranged on the assembly ring; And a clamping plate fixed on each limiting plate and inserted corresponding to the assembly frame one by one. The clamping plate is a plate body structure that is wide in the middle and narrow at both sides; It further includes an electric ring fixed on the inner side of the outer ring. The electric ring is provided with a plurality of electric pieces connected to the electric ring corresponding to a plurality of assembly frames. Two wires are further arranged inside each assembly frame. Among them, one ends of the two wires are respectively connected to the two electric blocks, and the other ends are combined and connected to the electric piece; And a wiring terminal connected to the electric ring and passing through a first through hole opened on the housing and connected to an external power supply.

4. The frameless torque motor with high torque according to claim 3, characterized in that: The cooling ring assembly includes an annular refrigeration box that can extend into the inner ring. Among them, the assembly ring is assembled on the outer periphery of the annular refrigeration box; And connecting pipes annularly communicated with the annular refrigeration box and corresponding to a plurality of limiting plates one by one. One end of each connecting pipe far away from the annular refrigeration box passes through the middle of the corresponding limiting plate and is communicated with a cooling cavity arranged inside the corresponding clamping plate; It further includes a first pipe body and a ball valve control water pipe that are communicated with the top of the annular refrigeration box, extend out of the housing and are connected to an external connecting pipe. The first pipe body is used for liquid inlet, and the ball valve control water pipe automatically drains liquid when the annular refrigeration box and the cooling cavity are filled with liquid.

5. The frameless torque motor with high torque according to claim 4, characterized in that: The ball valve control water pipe includes a second pipe body. One end of the second pipe body communicates with the annular refrigeration box, and the other end passes through a second through hole opened in the side wall of the housing and is fixed with a third pipe body. And a cross bar arranged inside the third pipe body. A spring is fixed in the middle of the cross bar, and a ball valve body is fixed at one end of the spring away from the cross bar. It further includes a valve block fixed on the side of the third pipe body close to the second pipe body. A valve hole in contact with the ball valve body is opened in the middle of the valve block. The ball valve body is used to close the valve hole.

6. The frameless torque motor with high torque according to claim 2, characterized in that: Each of the coil groups is embedded inside an assembly cavity formed by adjacent assembly frames. And two limiting strips arranged on one side of each assembly frame away from the limiting plate. Two of the limiting strips and the limiting plate respectively extend into two adjacent assembly cavities.

7. The frameless torque motor with high torque according to claim 1, characterized in that: The first rotor and the second rotor have the same structure and are each composed of a frame body and a number of permanent magnets arranged inside the frame body. The frame body is rotationally limited inside a limiting frame arranged on the inner wall of the housing.

8. The frameless torque motor with high torque according to claim 1, characterized in that: Each group of the planetary gear assemblies includes an I-shaped part. One end of the I-shaped part is detachably assembled with the annular refrigeration box through a second bolt assembly arranged thereon, and the other end extends into the middle of the corresponding frame body and is detachably assembled with a planet carrier through a third bolt assembly arranged thereon. Planetary gears are annularly installed on one side of the planet carrier away from the electromagnetic coil array assembly. A sun gear rotatably installed in the middle of the planet carrier and meshing with a number of planetary gears. And spline shafts respectively fixed at the opposite ends of the first output terminal and the second output terminal. The spline shafts can be assembled in spline grooves opened on the sun gear. It further includes a connecting ring fixed on the inner ring of the frame body. A ring gear meshing with a number of planetary gears is detachably assembled on one side of the connecting ring away from the electromagnetic coil array assembly through a fourth bolt assembly.

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